Fast convergent gait generation for underactuated biped based on output deadbeat control.

Published in: Humanoids (2012)

Keyphrases

biped robot
control strategy
inverted pendulum
mechanical systems
control parameters
biologically inspired
receding horizon
feedback controller
control method
controller design
control system
process control
legged robots
control scheme
optimal control
gait analysis
degrees of freedom
closed loop
real time